CN114228699A

CN114228699A - Method for determining a parking position of a motor vehicle, driver assistance system and motor vehicle

Info

Publication number: CN114228699A
Application number: CN202111055385.8A
Authority: CN
Inventors: P·胡格; S·布施; D·托马内克
Original assignee: Volkswagen Automotive Co ltd
Current assignee: Volkswagen Automotive Co ltd
Priority date: 2020-09-09
Filing date: 2021-09-09
Publication date: 2022-03-25
Also published as: US11634119B2; EP3967576A1; DE102020211332A1; US20220073056A1

Abstract

The invention relates to a method for determining a parking position (1) for a motor vehicle (2), wherein a lateral parking space (6) is detected by means of a sensor device (8) of the motor vehicle (2) and a parking space data set representing the lateral parking space (6) is provided to a control unit (9) of the motor vehicle (2), and the parking position (1) is determined by the control unit (9) as a function of the parking space data set and an entry parameter (10) of the motor vehicle (2), wherein the entry parameter represents an opening possibility of at least one cover element (11, 12, 13) of the motor vehicle (2). The invention provides that: the parking position (1) is set according to a further entry parameter (14) of a further motor vehicle (7) parked adjacent to the parking position (1). The invention also relates to a driver assistance system (3) and a motor vehicle (2).

Description

Method for determining a parking position of a motor vehicle, driver assistance system and motor vehicle

Technical Field

The invention relates to a method for determining or ascertaining (Ermitetln) a parking position for a motor vehicle which is not yet parked, wherein the motor vehicle is to be parked in a lateral parking space (Querpark platz) according to the ascertained or requested parking position. The invention further relates to a driver assistance system, in particular an at least semi-automatic parking steering assistance system. Finally, the invention relates to a motor vehicle, in particular a passenger vehicle, which is equipped with such a driver assistance system.

Background

From the prior art, various driver assistance systems or corresponding methods are known which at least partially support a user of a motor vehicle, in particular a driver, when parking the motor vehicle. For example, US 10606272B 2 discloses a method for driving a vehicle which is operated in a parking mode of operation, wherein the selection is made by means of a control unit on the basis of the parking orientation of at least one adjacent parked vehicle: the vehicle to be parked is parked in the parking space in a forward or rearward direction.

US 8319663B 2 discloses a parking assist system with a parking assist control unit by means of which the depth and width of a parking space and the objects restricting the parking space can be detected. The parking assist control unit sets the parking target position as an occupiable parking space based on this, by: the width and depth of the parking space are compared with the vehicle dimensions of a vehicle equipped with a parking assist system by means of the parking assist control unit.

EP 3081731 a1 also discloses a method performed by an alighting assistance system of a vehicle for optimizing the alighting of occupants from the vehicle during parking of the vehicle equipped with the assistance system. In conventional methods, the door opening space required for enabling an occupant identified by means of seat occupancy detection to exit the vehicle through a corresponding door opening is determined in accordance with the seat occupancy detection. An optimal parking route and a parking position are set on the basis of the above.

However, the following problems often exist today: parking spaces, in particular lateral parking spaces which are delimited from one another (abgrenzen), for example by means of ground markings, are not fully usable or fully usable, since a vehicle parked adjacent to the lateral parking space is too close to the assigned lateral parking space in its respective parking space adjacent to the lateral parking space or even at least partially occupies the part of the lateral parking space on which the vehicle should be parked. In other words, the adjacent motor vehicles at least partially block the lateral parking space in such a way that they are parked on or beyond the ground marking. Although, in some cases, it is possible to ensure that the driver can leave his own vehicle by means of a conventional vehicle departure assistance system; however, situations may also occur in which the boarding and thus the departure of a motor vehicle parked next to it is no longer reliably ensured by the optimal parking position set by the vehicle alighting assistance system. If, for example, the motor vehicle is parked in accordance with the parking position determined by the vehicle alighting assistance system, it is possible to bring the motor vehicle too close to the adjacent motor vehicle, so that, for example, the driver's door of the adjacent motor vehicle can no longer be opened or can only be opened insufficiently, so that the driver of the adjacent motor vehicle can only get on to his motor vehicle in a particularly complicated manner. There is also a risk of: the driver of an adjacent motor vehicle may damage the motor vehicle equipped with the vehicle alighting assistance system when attempting to open the driver's door.

On the one hand, there is therefore a risk of accident between adjacent parked vehicles, and on the other hand, the level of stress and/or frustration of the driver who wants to drive out of the adjacent vehicle is increased in an unfavorable manner, which can negatively affect the traffic safety during the course of a possible driving. The driver of the neighboring motor vehicle can consider the motor vehicle equipped with the vehicle alighting assistance system as being parked at a particular pace. The overall problem is thus still more acute: in densely populated areas, such as large cities, parking spaces are often tight or strained and therefore a particularly efficient utilization of the parking space should be strived for.

Disclosure of Invention

The task of the invention is to realize that: the vehicle is parked particularly efficiently and particularly reliably.

This object is achieved by a method having the features specified according to the invention, which is designed for determining a parking position for a motor vehicle. This object is also achieved by a driver assistance system having the features according to the invention. Finally, this object is achieved by a motor vehicle having the features specified according to the invention.

The features, advantages and advantageous embodiments of the driver assistance system according to the invention are also to be regarded as features, advantages and advantageous embodiments of the method according to the invention, wherein the device of the driver assistance system for carrying out the method steps is or can be used. The features, advantages and advantageous embodiments of the driver assistance system according to the invention are also to be regarded as features, advantages and advantageous embodiments of the motor vehicle according to the invention and vice versa.

According to the invention, a method for determining a parking position for a motor vehicle is proposed. In this method, a parking position for a vehicle that is not yet parked is determined or determined, wherein the vehicle is then to be parked in a lateral parking space according to the determined or requested parking position. The motor vehicle which is to be parked in accordance with this parking position is referred to below as an autonomous motor vehicle (Egokraftfahrzeug) and is designed in particular as a motor vehicle, for example a passenger motor vehicle.

In the method, a lateral parking space is detected at least partially by means of a sensor device (sensor) of the autonomous vehicle. In other words, the sensor device of the self-propelled vehicle creates data characterizing the lateral parking space, for example the width, depth, etc. of the lateral parking space. The sensor device thus provides in the method a parking space data set which characterizes at least in part the lateral parking space and which is provided to the control unit of the autonomous vehicle. The control unit is in particular a control unit of a driver assistance system, in particular a control unit of a parking steering assistance system. The parking space data set thus at least partially characterizes the lateral parking space on/in which the ego vehicle should be parked. This means that: the conditions existing at the lateral parking space are characterized by a parking space data set. The conditions characterizing the lateral parking space are therefore provided to the control unit of the self-propelled vehicle in the form of data, i.e. in the form of parking data sets. The conditions at least partially characterizing the lateral parking space include, in addition to the width and depth of the lateral parking space: whether at least one further motor vehicle is parked adjacent to the lateral parking space, in particular directly adjacent thereto; the orientation or parking position of an adjacently parked motor vehicle on its own parking space; objects in/at lateral parking spaces, etc.

The method further comprises the following steps: the parking position is determined by a control unit as a function of the parking position data set and as a function of at least one entry parameter (Zugangspark parameter) of the autonomous vehicle, wherein the entry parameter of the autonomous vehicle characterizes the opening probability of at least one hatch element (Klapppenelement) of the autonomous vehicle. At least one access parameter of the autonomous vehicle thus characterizes: whether or to what extent the corresponding hatch element of the motor vehicle can be opened when the self-vehicle has been parked in the lateral parking space. The flap element is in particular a door or a further flap of the motor vehicle, wherein the flap or the corresponding flap element is adjustable between a closed position and at least one open position (vertellbar). In the closed position, which is formed by the first end stop of the flap element, the opening of the housing of the self-propelled vehicle is completely closed by means of the flap element. In contrast, in a position of the hatch element different from the closed position, that opening is then at least partially open, which means that: as soon as the flap element is pushed out of the end stop in the closed position, the flap element is in this state adjusted at least partially into the open position. At the end stop opposite or opposite the first end stop along the adjustment path (Verstellweg) of the flap element, the flap element is completely adjusted into the open position and the assigned opening in the housing of the motor vehicle is opened to the greatest possible extent, in particular to the greatest possible extent, as is possible in the intended use of the flap element.

Since conventional motor vehicles have a plurality of hatch elements, provision is made, in particular, for: the number of access parameters of the autonomous vehicle corresponds to the number of hatch elements of the autonomous vehicle. If the autonomous vehicle therefore has, for example, four doors and a cargo compartment cover, this means: the five hatch elements of the self-propelled vehicle are relevant for the method. In this case, the autonomous vehicle therefore has, for example, five entry parameters which are to be considered separately from one another. If further hatch elements of the self-propelled vehicle are to be considered for the method, for example engine hatches, refueling hatches, etc., the number of inlet parameters is correspondingly increased.

In order to now achieve a particularly safe and particularly effective parking of the autonomous vehicle by means of the method, according to the invention: the parking position is set as a function of at least one further entry parameter of at least one further motor vehicle, wherein the further motor vehicle is parked adjacent to the designated parking position or the intended parking position. In this case, the further entry parameter of the at least one further motor vehicle is formed analogously to the previously described entry parameter of the ego motor vehicle.

The parking position is thus determined by means of the control unit in such a way that: the control unit processes or further processes the parking space data set, the at least one entrance parameter of the own vehicle and the at least one further entrance parameter of the adjacently parked vehicle. In other words, the control unit evaluates the parking space data set together with the entry parameters of the own vehicle and the entry parameters of the neighboring vehicles in order to determine or establish a parking position, in which the own vehicle is ultimately to be parked in accordance with the parking position in a parking space or a lateral parking space or in accordance with the parking position in a parking space or a lateral parking space.

In this method, the entry parameters of the autonomous vehicle and also of the adjacently parked vehicle are taken into account, so that a particularly efficient and particularly reliable parking of the autonomous vehicle is ensured, since it is not only a particular simple or effortless removal of the autonomous vehicle that is concerned, but also the orientation and/or opening possibility of at least one hatch element of the adjacently parked vehicle. The results were: a particularly simple opening of the corresponding hatch element and thus a particularly simple boarding into an adjacently parked motor vehicle is ensured. In this way, the self-propelled vehicle can be used particularly effectively for parking, the adjacent parked vehicle being blocked to a particularly small extent. The following risks are reduced in this connection: when a user, in particular a driver, of an adjacently parked motor vehicle opens a corresponding hatch element, for example a driver door of an adjacently parked motor vehicle, this driver hatch can undesirably strike the self-propelled vehicle and thus damage the adjacently parked motor vehicle and/or the self-propelled vehicle. Furthermore, the driver of a motor vehicle parked adjacent to one another perceives: parking with the aid of the autonomous vehicle is carried out with particular care, as a result of which the acceptance of the autonomous vehicle and thus of the driver assistance system of the autonomous vehicle is particularly high in an advantageous manner. In addition, the level of stress or frustration on boarding the driver of the adjacently parked motor vehicle is advantageously made particularly low, so that the traffic safety is particularly high subsequently, for example, when driving next with the adjacently parked motor vehicle. Since traffic safety is dependent in particular on the mental state of the (human) traffic participants (gemuztsustand).

In a further advantageous embodiment of the method, for determining the parking position, the orientation of the autonomous vehicle with respect to the lateral parking space in the forward driving direction is determined by means of the control unit as a function of the parking space data set and as a function of the entry parameter, i.e. not only as a function of the at least one entry parameter of the autonomous vehicle but also as a function of the at least one entry parameter of the adjacently parked vehicle. In other words, for determining the parking position, it is determined by means of the control unit that: the autonomous vehicle is driven forward or backward into/onto the lateral parking space or is intended to be driven forward or backward into/onto the lateral parking space. If the right and left sides of the transverse parking spaces, into/from which the autonomous vehicle is to be parked, are each directly bounded by the respective adjacently parked vehicle, wherein both of the adjacently parked vehicles are parked forwards, parking can be carried out particularly effectively by means of the autonomous vehicle in that the autonomous vehicle is parked backwards between the two adjacently parked vehicles. The passenger side of the self-propelled vehicle and the passenger side of one of the adjacent parked vehicles are then directed toward one another, so that the driver side of the self-propelled vehicle and the driver side of the respectively other adjacent parked vehicle are assigned to one another. In this way, it is possible, for example, to select the distance between the named co-driver sides to be smaller than the distance between the named driver sides, so that a particularly large space or position remains in the region of the respective driver door of the self-vehicle and in the region of the respective driver door of the adjacent parked vehicle, so that not only the driver of the self-vehicle but also the driver of the corresponding adjacent parked vehicle can get on or off with particularly little effort.

In this connection it has proven to be particularly advantageous: so that the orientation of the forward driving direction of the ego-vehicle in relation to the lateral parking space is further dependent on the type of road adjoining the lateral parking space and/or the complexity of the driving manoeuvre (Fahrman servers) necessary for driving onto the lateral parking space and/or the orientation of the forward driving direction of the adjacently parked motor vehicle and/or the loading state of the cargo compartment (Laderaum) of the ego-vehicle. In conjunction with the orientation of the autonomous vehicle with respect to the transverse parking space in the forward direction of travel, i.e., by means of whether the autonomous vehicle is parked in the rearward direction or in the forward direction, a corresponding preferred orientation (Vorzugsausrichtung) is provided. If the lateral parking space adjoins the local road (Ortsstra beta e), for example, i.e. is driven onto the lateral parking space away from the local road, the determination of the parking position comprises: preferably, the vehicle is driven backwards onto/into the lateral parking space. If the driving manoeuvre which is to be used for driving in the lateral parking space is particularly complex, for example due to a particularly high traffic load on the road adjoining the lateral parking space, provision can be made for: the driver is driven forward into the lateral parking space in order to free the ego vehicle from the road as quickly as possible and preferably to impede the traffic flow on the road as little as possible. Furthermore, and as already mentioned above, the orientation of the forward driving direction of the ego vehicle can be selected in accordance with the forward driving direction of at least one adjacently parked vehicle or in accordance with the respective forward driving direction of the adjacently parked vehicle. In order to achieve a particularly efficient or effortless unloading or loading of a cargo compartment of the autonomous vehicle, for example a luggage compartment, the forward driving direction of the autonomous vehicle can be correspondingly oriented in such a way that a user of the autonomous vehicle can achieve particularly effortless: the corresponding hatch elements of the cargo compartment, for example the luggage compartment lid, are opened or closed and can be reached particularly easily beforehand.

A further advantageous embodiment of the method provides for: in order to determine the parking position, a horizontal offset (Versatz) between a vertical longitudinal center plane (L ä ngsmittenebe) of the autonomous vehicle and a vertical longitudinal center plane of the transverse parking space is determined by means of a control unit as a function of a parking data set and as a function of an entry parameter (which means as a function of the entry parameter(s) of the autonomous vehicle in combination with the entry parameter(s) of the adjacently parked vehicle). This means that: the control unit determines the parking position, for example, in such a way that the vertical longitudinal center plane of the autonomous vehicle coincides with the vertical longitudinal center plane of the transverse parking space, if this is possible on the basis of the conditions on the transverse parking space, which are characterized by the parking space data set and the entrance parameters. In this case, the horizontal offset between these longitudinal center planes is then zero. Furthermore, the parking position can be determined by means of the control unit in such a way that the vertical longitudinal center plane of the autonomous vehicle and the vertical longitudinal center plane of the transverse parking space are separated from one another, if this is necessary because of at least one of the entry parameters. In this case, then the horizontal offset between these longitudinal center planes is not equal to zero, which means that: the autonomous vehicle is parked off-center (au β ermittig) with respect to the lateral parking space, for example, in order to ensure that: safely boarding into or disembarking from the autonomous vehicle; and/or to safely get on to or from the adjacently parked motor vehicle.

It has also proven to be advantageous if, on the basis of the available width of the lateral parking space, the width of the self-propelled vehicle (self-propelled vehicle width) and the at least one entry parameter which characterizes the open position of the flap element, the lateral parking space is classified by means of the control unit as a safely usable lateral parking space, a small lateral parking space, a critical (kricisch) lateral parking space or a non-safely usable lateral parking space. In this case, the available width of the lateral parking space is detected or determined by means of a sensor device of the self-propelled vehicle, wherein the available width of the lateral parking space may deviate from the marked width of the lateral parking space. Since, as already mentioned above, it is possible for conditions to exist at the lateral parking space which at least prevent a complete or comprehensive use of the lateral parking space, for example in that: adjacent motor vehicles are partially parked on or above the ground markings of the lateral parking space. Thus, the lateral width (Querbreite) between the ground mark lines is larger than the actual available width of the lateral parking space, so that the lateral parking space is only usable within the range of the actual available width. If, as a result, at least one object, for example an adjacently parked motor vehicle, projects into a lateral parking space on which the motor vehicle is to be parked by itself, the width of this lateral parking space which is actually available for parking is reduced by that object. If both the right and left sides of the lateral parking space are each bounded by adjacently parked motor vehicles, the available width of the lateral parking space between the adjacently parked motor vehicles spaced apart from one another by the lateral parking space is correspondingly measured, for example. The vehicle width of the autonomous vehicle or the autonomous vehicle width is known from the manufacture of the autonomous vehicle and is stored, for example, in a memory unit of the control unit or of the driver assistance system. In order to determine the parking position, the control unit accordingly has access to information which characterizes the width of the ego vehicle in the form of data.

At least one entry parameter of the autonomous vehicle which is taken into account for classifying a lateral parking space represents at least one open position of one of the doors of the autonomous vehicle, for example the driver's door. It is known that: the driver door of the motor vehicle is held in a first stop position (rasstellung) when pivoted from the fully closed state in the direction of the fully open position, wherein the first stop position can be overpressured by applying a further opening force, so that the driver door is then held in a second stop position after passing the first stop position, wherein the second stop position represents a defined end stop in the open position of the driver door. In other words, in order to set the driver's door completely in the open position, the driver's door should be pushed out beyond the first stop position until it is completely or maximally opened in the second stop position. In conjunction with the respective entry parameters of the autonomous vehicle, this means: a first access parameter of the autonomous vehicle characterizes the driver's door in a first stop position, and a second access parameter different from the first access parameter characterizes the driver's door in a second stop position or in a fully open state. With the driver's door arranged in the respective stop position, a lateral space requirement arises, which is necessary for adjusting the driver's door or the corresponding flap element into the respective stop position. In other words, a first distance is provided on one side (driver side or passenger side) of the ego vehicle, wherein the first distance is required to adjust the corresponding hatch element into the first locking position. Furthermore, a second distance is provided on the same side, which second distance is larger than the first distance and is necessary to adjust the corresponding flap element into the second locking position. Furthermore, a safety distance is provided on this side, which is smaller than the first distance, wherein the safety distance is required in order to operate the autonomous vehicle, in particular a driver assistance system or an at least semi-automatic parking steering assistance system, as intended, in order to provide the user or driver of the vehicle with an assistance function for parking, in particular with the method described herein.

During or when the method is carried out, the lateral parking spaces to which the self-propelled vehicle is to be parked are therefore classified as safe-to-use lateral parking spaces, for example. This is the case:

wherein:

b: available width of lateral parking space;

b: width of self-propelled vehicle

d₂: a second pitch.

If the conditions are applicable to the parked autonomous vehicle in connection with the lateral parking space, this makes it possible to open the respective flap element, in particular the driver door and the passenger door, to the maximum extent, i.e. to set each in the second locking position, both on the driver side of the autonomous vehicle and also on the passenger side of the autonomous vehicle. This ensures for the user of the self-propelled vehicle that: particularly simple and comfortable boarding and disembarking.

Conversely, a lateral parking space on which the self-propelled vehicle is to be parked is classified as a small lateral parking space if:

wherein d is₁: a first pitch.

This means that: the use of lateral parking spaces for parking the self-propelled vehicle is at least limited, since under these conditions it is no longer possible: both the passenger door and the driver door are respectively adjusted into the second stop position or fully opened. However, it is possible to adjust the respective hatch elements (i.e., the passenger and driver doors) in the right and left sides of the autonomous vehicle in a first locking position, in which the respective doors are not completely opened, but the entry or exit is ensured.

Furthermore, a lateral parking space on which the self-propelled vehicle is parked is classified as a critical lateral parking space when:

wherein d is_s: and (4) a safety distance.

If the autonomous vehicle is parked in such a critical lateral parking space, it is no longer possible to adjust the passenger or driver door to the first stop position on both sides of the autonomous vehicle. Thus, the user of the self-propelled vehicle should hold the respective door between the fully closed position and the first stop position, for example, in order to get off the self-propelled vehicle. This is particularly laborious and therefore does not guarantee: in particular, the vehicle is simply pulled off the self-propelled vehicle.

Finally, it is also possible to envisage: said lateral parking spaces are not suitable for safely accommodating the self-parking of vehicles. In other words, in the case of the method, the lateral parking space may be classified as a lateral parking space that cannot be safely used. When in use

This is the case.

In the case of a lateral parking space which is classified as a lateral parking space which cannot be safely used, a safety distance d is nevertheless still present on the left and right of the self-propelled vehicle_sHowever, it is only possible to open the passenger and/or driver doors to such a small extent that safe boarding from and to the autonomous vehicle can no longer be guaranteed.

Advantageous for the method are: the parking space classification for the lateral parking space is known before the autonomous vehicle is driven to the lateral parking space and is finally parked on the lateral parking space. For example, the identified category of the lateral parking space can be provided to a user of the ego vehicle, in particular to the driver, for example via an output unit (display, loudspeaker, etc.), which in turn offers the driver the following selection possibilities: whether it should actually be parked on that lateral parking space or whether it should continue to find a parking space.

If a small lateral parking space is classified in the context of a lateral parking space, it is preferred that: the parking position is determined by means of the control unit in such a way that a comfortable distance from an adjacent parked vehicle is provided at least one of the flap elements of the autonomous vehicle, i.e., for example at the driver's door or at the passenger door. Furthermore, it may optionally be provided that: before the autonomous vehicle drives into the parking space, a copilot of the autonomous vehicle is recommended and/or (further) passengers on the copilot side get off the autonomous vehicle. For this purpose, an output unit can be used, for example. If a comfort distance is thus provided on at least one side of the self-propelled vehicle, it is possible, even in the case of at least partially restrictively usable lateral parking spaces, to adjust the corresponding flap element into the second latching position for a particularly comfortable disembarking from the self-propelled vehicle, at least for the driver and/or for the passenger on the driver side of the self-propelled vehicle, wherein the comfort distance is the second distance.

If the lateral parking space is classified as a critical lateral parking space, it is preferred that: the parking position is determined by means of the control unit in such a way that a minimum distance from an adjacent parked motor vehicle is provided at least one of the flap elements of the autonomous motor vehicle, wherein the minimum distance is a first distance. In this case, it may optionally be proposed: the passenger on the copilot and/or copilot side of the autonomous vehicle is alight from the autonomous vehicle before the autonomous vehicle travels to the critical lateral parking space. If the lateral parking space is further limited in such a way that it is no longer a small lateral parking space but a critical parking space whose available width is smaller than in the case of a small lateral parking space, the corresponding flap element or driver door or an autonomous door which is different from the driver door and which is arranged on the driver's side of the autonomous vehicle can be adjusted into the first arresting position, at least for the driver of the autonomous vehicle and/or a passenger on the driver's side of the autonomous vehicle. This continues to ensure that the parking space is effectively utilized: at least the driver can disembark from the autonomous vehicle when the autonomous vehicle has been arranged in the critical lateral parking space in accordance with the parking position.

In a further embodiment, the sensor device used for at least partially detecting a lateral parking space for providing a parking space data set has two sensor units that are configured differently from one another. This means that two sensor units of the sensor device which are designed differently from one another are used for the method for detecting a lateral parking space, wherein a first of the sensor units detects a ground marking which defines the lateral parking space and a second of the sensor units, which is designed differently from the first, detects a free volume (freevolume) of the lateral parking space. The first sensor unit is thus a sensor unit which can be used to perform or to perform parking mark recognition. Correspondingly, the second sensor unit is a sensor unit which can be used or is used to perform free volume detection. For example, the sensor unit for parking mark recognition is a camera-based sensor system, by means of which the ground mark or parking mark is detected and a reference data set characterizing the ground mark or parking mark is provided to the control unit. The sensor unit for free volume detection is, for example, a radar sensor system, which detects the free volume of the lateral parking space and provides the control unit with a free volume data set that characterizes the lateral parking space in part. The free volume of the lateral parking space is the volume of the lateral parking space without objects, such as vehicles, pillars and/or other fixed bodies. The free volume or free volume of the lateral parking space is arranged above the ground of the lateral parking space, i.e. is limited downwards by the lateral parking space ground.

The free volume data set and the reference data set are combined or linked to one another in a data-technical manner, for example, by means of a sensor device and are in particular further processed into a parking space data set or linked in a data-technical manner to the parking space data set. In other words, the parking position data set is provided to the control unit by means of the sensor device on the basis of the reference data set and the free volume data set, and the corresponding parking position is determined by means of the control unit, wherein the parking position characterizes a safe parking of the autonomous vehicle in the lateral parking space.

The use of two sensor units that are configured differently from one another for detecting a lateral parking space whose floor marking or parking marking serves as a reference for the parking space data set ensures a particularly reliable detection of the actually empty volume of the lateral parking space. The parking process according to the method is thus made particularly intuitive for the user of the self-propelled vehicle, since the (human) driver of the self-propelled vehicle would also use the parking marking of the lateral parking space or the ground marking as a reference for the parking process in the case of unsupported parking.

If the free volume, which has a rectangular base area on the floor of the lateral parking space in a simplified manner, and the parking marking, for example, which is rectangular, are offset from one another, the space of the lateral parking space that can actually be used for parking changes depending on the orientation (Lage) of the free volume. This situation may arise, for example, by: at least one motor vehicle parked adjacent to the transverse parking space, in particular both motor vehicles adjacent to the transverse parking space, is parked askew in its own (transverse) parking space, whereby access to the transverse parking space may be hindered. Furthermore, due to the skew position of the adjacently parked motor vehicle in the longitudinal direction of the transverse parking space and/or in the forward driving direction of the self-propelled motor vehicle: different distances exist between the self-propelled vehicle and the respective adjacent parked vehicle. In this connection, provision is made in the method for: the available width of the lateral parking space is measured in relation to the lateral direction of the lateral parking space between points of adjacent parked vehicles which are arranged closest to each other due to the skewed position of said adjacent vehicles.

Alternatively or additionally, provision may be made for: the available width of the lateral parking space is determined only at the height of the driver's door of the ego vehicle. Then, when determining the parking position by the control unit, the control unit takes into account: there may be a narrower spacing between one of the adjacent vehicles and the ego vehicle at a distance (abseits) from the driver's door of the ego vehicle.

The invention also relates to a driver assistance system, in particular designed as an at least semi-automatic parking steering assistance system. The driver assistance system or at least the semi-automatic parking steering assistance system is designed to carry out the method according to the above. This means that the driver assistance system has a device which is configured to carry out the method steps of the method described above.

The invention also includes: in accordance with further embodiments of the driver assistance system according to the invention, the driver assistance system is configured to be operated in a manner that is independent of the driver assistance system. For this reason, corresponding embodiments of the driver assistance system according to the invention are not described again here.

Finally, the invention relates to a motor vehicle, in particular a passenger vehicle, having a driver assistance system as described above.

The invention also includes a development of the motor vehicle according to the invention, which has the features already described in the context of the method according to the invention or a development of the driver assistance system according to the invention. For this reason, corresponding embodiments of the motor vehicle according to the invention are not described again here.

The invention also comprises combinations of these features of the described embodiments.

Drawings

Embodiments of the present invention are described below. For this purpose:

fig. 1 shows a schematic representation of a parking area with at least three lateral parking spaces, wherein the empty lateral parking space of the lateral parking spaces is limited on both the right and left side by the respectively adjacently parked motor vehicle, wherein the empty lateral parking space is to be driven by means of an autonomous motor vehicle;

fig. 2 shows a schematic representation of four parking situations according to which the forward driving direction of the ego vehicle is oriented with respect to the lateral parking space;

fig. 3 shows a schematic view of a self-propelled vehicle parked in the transverse parking space, wherein a longitudinal center plane of the self-propelled vehicle and a longitudinal center plane of the transverse parking space are separated from each other;

fig. 4 shows a schematic illustration of the autonomous vehicle for the purpose of illustrating the relevant distances for parking;

fig. 5 shows a flow chart for explaining the method steps of the method for determining a parking position for an ego vehicle; and

fig. 6 shows a schematic representation of a lateral parking space, which is detected by means of two sensor units.

Detailed Description

The examples set forth below are preferred embodiments of the invention. In the exemplary embodiments described, the components of the exemplary embodiments each represent a respective feature of the invention which is to be considered independently of one another, which features in each case also extend independently of one another and are therefore also to be considered as a constituent part of the invention, either individually or in different combinations than those shown. Furthermore, the described embodiments can also be supplemented by other features of the invention already described.

In these figures, elements having the same function are provided with the same reference numerals, respectively.

In the following, a method for determining a parking position 1 for a motor vehicle 2 (which motor vehicle 2 is referred to as autonomous vehicle 2 in the following), a driver assistance system 3 for carrying out the method, and the autonomous vehicle 2 itself are described jointly.

Fig. 1 shows a schematic representation of a parking area 4 with at least three lateral parking spaces 5, wherein one of the lateral parking spaces 5 (designated by reference numeral 6) which is empty is limited on the right and left by a directly adjacent parked motor vehicle 7. The ego vehicle 2 is to be driven into the lateral parking space 6 in order to park/park the ego vehicle 2 in/on the lateral parking space 6. In this case, the parking position 1 is determined by means of the sensor device 8 or by means of the driver assistance system 3 having the sensor device 8. The autonomous vehicle 2 is oriented or positioned in the lateral parking space 6/on the lateral parking space 6 depending on the parking position 1 determined or required. For this purpose, the lateral parking space 6 is detected at least in part by means of a sensor device 8 of the autonomous vehicle 2, and a parking space data set characterizing at least in part the lateral parking space 6 is generated and supplied to a control unit 9 of the autonomous vehicle 2, in particular of the driver assistance system 3. This means that: the control unit 9 may be a control unit of the driver assistance system 3. In the case of detection of transverse parking space 6 by means of sensor device 8, the conditions influencing on transverse parking space 6 or in transverse parking space 6 are detected. For example, by means of the sensor device 8: the width and depth of a lateral parking space 6 and/or whether the lateral parking space 6 is limited by at least one object means: whether the lateral parking space 6 is not fully used or not because of the object.

In the method for determining the parking position 1 for the autonomous vehicle 2, further entry parameters 10 of the autonomous vehicle 2 are also taken into account. This means that: the entry parameters 10 are supplied to the control unit 9 in data form, for example stored beforehand by means of a memory unit of the control unit 9. The entry parameter 10 of the autonomous vehicle 2 characterizes a corresponding opening possibility of a hatch element 11 of the autonomous vehicle 2 (see fig. 4). The corresponding hatch element 11 is, for example, a driver door 12 of the autonomous vehicle 2 or a passenger door 13 of the autonomous vehicle 2. It is known that: the motor vehicle and therefore the self-propelled motor vehicle 2 can have more hatch elements 11, wherein the method is then likewise applied to the further hatch elements. This means that: in the following, although only the driver door 12 and the passenger door 13 are discussed, the driver door 12 and the passenger door 13 represent each flap element of the ego vehicle 2 only by way of representation or example.

In order to achieve a particularly safe and particularly effective parking of the autonomous vehicle 2, the control unit 9 is provided with further access parameters 14, which are also included in the method for determining the parking position 1 for the autonomous vehicle 2. This means that: for determining the parking position 1, the control unit 9 is provided with a parking space data set, an entry parameter 10 and a further entry parameter 14. The control unit 9 then forms a parking position 1 on the basis of the

entrance parameters

10, 14 and the parking bit data set before the autonomous vehicle 2 has finally been parked in/on the lateral parking space 6, said parking position representing: orientation and/or positioning of the ego-vehicle 2. In other words, the parking position 1 forms a target orientation or target position for the autonomous vehicle 2, wherein the autonomous vehicle 2 is driven (in particular by means of the driver assistance system 3) onto/into the lateral parking space 6 as a function of the determined or ascertained parking position 1. In this case, provision is made in particular for: the driver assistance system 3 drives the autonomous vehicle 2 along a parking trajectory 15 onto/into the lateral parking space 6, wherein the driver assistance system is designed in particular as an at least semi-automatic parking steering assistance system. Particularly preferred are: for parking, the autonomous vehicle 2 is driven semi-automatically, fully automatically or autonomously onto the lateral parking space 6 by means of the driver assistance system 3 or parking steering assistance system, i.e., parking is performed. The further entry parameters 14 are assigned to the further motor vehicles 7 which are parked adjacent to the parking position 1 and are therefore already parked or parked on the respective transverse parking space 5 which is in each case directly adjacent to the transverse parking space 6. The further entry parameters 14 characterize the opening possibilities of at least one flap element of the adjacently parked motor vehicle 7 and are each configured analogously to the entry parameters 10 of the autonomous motor vehicle 2. In order to be able to incorporate the access parameters 14 into the method for determining the parking position 1, the control unit 9 is provided with the further access parameters 14, which are detected, for example, by means of the sensor device 8 of the autonomous vehicle 2. For example, these further inlet parameters 14 characterize: whether the respective driver door or the respective passenger door of the respectively adjacently parked motor vehicle 7 faces the transverse parking space 6. In fig. 1, due to the orientation in the position of the adjacently parked motor vehicle 7 in the respective lateral parking space 5, the respective passenger door of these adjacently parked motor vehicles 7 faces the lateral parking space 6, wherein the autonomous vehicle 2 is to be driven onto the lateral parking space 6 according to the method.

Fig. 2 shows in a schematic representation 4 parking situations a), b), c) and d), in accordance with which the forward driving direction 16 of the autonomous vehicle 2 is oriented with respect to the respective lateral parking space 6. In accordance with the respective positional arrangement of the

access parameters

10, 14, in particular in conjunction with the parking situations b), c) and d), it becomes clear how the respective orientation of the forward driving direction 16 of the autonomous vehicle 2 with respect to the respective transverse parking space 6 and/or with respect to the respective orientation of the adjacently parked vehicle 7 influences a particularly comfortable or effortless access to the respective driver door 12 of the autonomous vehicle 2 and/or a particularly comfortable or effortless access to the respective driver door of the adjacently parked vehicle 7, wherein the

access parameters

10, 14 characterize the orientation of the respective driver door 12 of the autonomous vehicle 2 and the orientation of the respective driver door of the adjacently parked vehicle 7 in fig. 2. In the case of a common orientation of the

forward driving directions

16, 17, a constant distance between the adjacently parked motor vehicle 7 and the ego vehicle 2 is thus achieved, while in contrast (with reference to the parking situations a) and c)) a particularly large space can advantageously be provided at the driver's door. This is particularly evident in conjunction with parking situation a), in which the autonomous vehicle 2 is parked off-center on the transverse parking space 6, in order to provide a particularly large space between the vehicle arranged on the right in fig. 2 of the adjacently parked vehicles 7 and the autonomous vehicle 2.

Furthermore, the respective orientation of the forward driving direction 16 of the autonomous vehicle 2 with respect to the lateral parking space 6 is determined according to the type of road from which the autonomous vehicle is driven directly onto the lateral parking space 6. This means that: the lateral parking space 6 and the road adjoin one another in such a way that, when leaving the road, the vehicle is driven or can be driven directly or immediately onto the lateral parking space 6. The orientation of the forward driving direction 16 and thus the parking position in the lateral parking space 6 therefore depends on: the road to which the lateral parking space 6 is adjacent is a highway trunk, an expressway, a rural road, a road used only for parking lot traffic, or the like. With renewed reference to fig. 1, when parking the autonomous vehicle 2 or for determining the parking position 1 of the autonomous vehicle 2, the orientation of the forward driving direction 16 can furthermore be selected as follows: how complex the driving manoeuvres necessary for parking onto the lateral parking space 6 are. Such driving maneuvers are characterized, for example, by parking trajectories 15, which may be different depending on what conditions are present in the surroundings of the ego-vehicle 2 or of the lateral parking space 6, for example depending on traffic conditions or traffic density. If there is a need, for example, to make way to the road adjacent to the lateral parking space 6 particularly quickly in order to maintain the flow of traffic on the road, it is possible to drive into the parking position 1 or into the lateral parking space 6 in accordance with the first parking trajectory 18. If there is less dense traffic, it is possible to drive into the parking position 1 and thus into the lateral parking space 6 according to a second parking trajectory 19, wherein the second parking trajectory 19 and the first parking trajectory 18 differ in particular in that: the second parking trajectory 19 has at least one further displacement (Zug) since the autonomous vehicle 2 is first to be retracted in order to be subsequently driven forward to the lateral parking space 6. Furthermore, a third parking trajectory 20 can be envisaged, according to which the autonomous vehicle 2 drives backwards into the lateral parking space 6 in one shift, which likewise requires the possibility of backing off on the road adjoining the lateral parking space 6, which may be impeded, for example, by particularly high traffic loads on the road or at least may be particularly troublesome or complicated.

Furthermore, the orientation of the forward driving direction 16 of the ego vehicle 2 with respect to the lateral parking space 6 can be determined in accordance with the respective orientation of the forward driving direction 17 of the respective adjacently parked vehicle 7. Thus, for example, it is possible to envisage: considering the respective orientation of the forward driving direction 17 of the adjacently parked motor vehicle 7, this is done in the following manner: the self vehicle 2 is directed to the lateral parking space 6 according to the majority of the vehicles 7 parked in the environment of the lateral parking space 6. In other words, the parking position 1 is determined by means of the control unit 9 in such a way that the forward driving direction 16 of the autonomous vehicle 2 on the transverse parking space 6 corresponds to the majority of the respective forward driving directions 17 of the adjacently parked vehicles 7.

In fig. 2, in parking situations a), b), c) and d) corresponding wall elements 21 are depicted, which make access to the cargo compartment cover (see parking situations a) and b)) of the autonomous vehicle 2 at least difficult. It is therefore significant that: the orientation of the forward driving direction 16 of the motor vehicle 2 is determined based on whether the user of the ego motor vehicle 2 needs to access the cargo compartment. If the user of the autonomous vehicle 2 needs to access the cargo space, provision is made in the method for: the control unit 9 determines the parking position 1 in such a way that the forward driving direction 16 of the autonomous vehicle 2 is oriented in the direction of the corresponding wall element 21, so that the hatch elements of the cargo compartment of the autonomous vehicle 2 are particularly easily accessible.

Fig. 3 shows the autonomous vehicle 2 parked on the transverse parking space 6 in a schematic illustration, wherein a longitudinal center plane 22 of the autonomous vehicle 2 is separated from a longitudinal center plane 23 of the transverse parking space 6. In other words, the parking position 1 is determined or determined by means of the control unit 9 in such a way that the autonomous vehicle 2 is parked off-center in the lateral parking space 6. Expressed in another way, the autonomous vehicle 2 occupies a parking position 1 on the lateral parking space 6, wherein the parking position 1 is arranged off-center with respect to the lateral direction of the lateral parking space 6. These longitudinal center planes 22, 23 are thus spaced apart from one another via a horizontal offset 24, but are (continuously) arranged parallel to one another. The two longitudinal center planes 22, 23 stand vertically on the parking space 4, wherein the parking space has or contains the

transverse parking spaces

5, 6.

In the overview of fig. 3 and fig. 2 (parking situation a) and c)), the motivation for off-center parking becomes particularly evident in view of the entry parameters 10, 14: since the motor vehicle 7 shown on the right in fig. 3 is parked in particular close to the lateral parking space 6, the space on the driver's side of the autonomous vehicle 2 for opening the driver's door 12 is particularly small if the autonomous vehicle 2 is parked centered on the lateral parking space 6. If the two longitudinal center planes 22, 23 coincide in such a way that the offset 24 between the longitudinal center planes 22, 23 is equal to zero, at least the driver is prevented from alighting from the autonomous vehicle 2, since the distance between the driver side of the autonomous vehicle 2 and the passenger side of the vehicle 7 shown on the right is disadvantageously particularly small. This is dealt with in the method by: before the autonomous vehicle 2 drives into the transverse parking space 6, the parking position 1 is determined or determined in such a way that the longitudinal center planes 22, 23 are separated from one another as described. As a result, there is sufficient space between the autonomous vehicle 2 and the adjacent parked vehicle 7 shown on the right to enable the driver of the autonomous vehicle 2 to open the driver door 12 to a defined extent sufficient to enable particularly effortless, i.e. comfortable, underground driving.

Fig. 4 shows a schematic illustration of the autonomous vehicle 2 in order to clarify the distances relevant for parking the autonomous vehicle 2. The autonomous vehicle 2 has an autonomous vehicle width b, which is indicated by reference numeral 25 in fig. 4. The available width B (reference numeral 26) of the lateral parking space 6 is measured in the present example between the adjacently parked motor vehicles 7, of which only the outlines indicate in fig. 4. If the lateral parking space 6 is selected for parking with the self vehicle 2, wherein no object limiting the lateral parking space 6, i.e. for example an adjacently parked vehicle 7, is present on both the right and left sides of the lateral parking space 6, it can alternatively be provided that: the available width 26 (B) between the ground markings or parking markings 27 defining the lateral parking space 6 is measured. The ground marking 27 is, for example, a color marking, in particular on the parking area 4, in order to optically delimit the

lateral parking spaces

5, 6 from one another, so that the driver of the

motor vehicles

2, 7 to be parked in each case can be oriented at the ground marking 27.

As already explained above, the ego vehicle 2 has a hatch element 11, reference being made to the driver door 12 and the passenger door 13. The

doors

12, 13 of the autonomous vehicle 2 can be adjusted into a respective first stop position 28 and into a respective second stop position 29. In the respective stop positions 28, 29, the respective hatch element 11 is moved away from the ego-vehicle 2 (abstehen) with a spacing between the respective side of the ego-vehicle 2 and the respective outer edge of the respective hatch element 11 being formed. In this case (explained by taking the driver's door 12 as an example), the self-machine is operatedIn the second stop position 29 of the driver door 12 on the driver's side of the motor vehicle 2, a second distance d is formed between the outer edge of the driver door 12 and the autonomous vehicle 2₂Or a comfort gap, wherein the second gap or the comfort gap has the reference numeral 30 in fig. 4.

Conversely, if the respective flap element 11 is adjusted into the first stop position 28, (again explained by way of example again with reference to the driver's door 12), this indicates that: a first distance d is formed between the driver side of the ego vehicle 2 and the outer lateral edge of the driver door 12₁Wherein the first pitch is denoted as the minimum pitch (reference numeral 31).

The access parameters 10 of the autonomous vehicle 2 characterize: the corresponding hatch element 11, i.e. for example the driver door 12 and/or the passenger door 13, is or can be adjusted into which of the respective stop positions 28, 29. In other words, these inlet parameters 10 characterize the ability of the respective hatch element 11 to be adjusted into the respective stop position 28, 29. Thus, by these entry parameters 10, it is characterized: when the respective flap element 11 is adjusted into the first stop position 28 or into the second stop position 29, which of these

spacings

30, 31 is formed between the respective side of the ego-vehicle 2 and the respective outer side edge of the respective flap element 11.

In order to safely stop the autonomous vehicle 2, in particular by means of an at least semi-automatic parking steering assistance system, a safety distance d is set on each of the right and left sides of the autonomous vehicle 2_s(reference numeral 32), wherein the safety distance is required to enable the autonomous vehicle 2 to safely drive into the lateral parking space 6.

Fig. 5 shows a flow chart for the purpose of illustrating the method steps of the method for determining the parking position 1 for the ego vehicle 2. In a first method step S1, lateral parking space 6 is detected by means of sensor device 8, in particular the size (Ma β e) of lateral parking space 6 is recorded (see fig. 4). In other words, the parking space data set then has the size, for example the available width, of the lateral parking space 626 (B). Thereafter, the parking space data set is further processed by means of the control unit 9, the parking space data set which in the present case at least partially characterizes the lateral parking space 6 being checked as follows: if parking position 1 is correspondingly determined or if autonomous vehicle 2 is then parked in transverse parking space 6 according to parking position 1, comfort distance 30 or second distance d is present on the right and left of autonomous vehicle 2, taking into account width 25 (b) of the autonomous vehicle₂. In other words, in method step S2 it is checked: whether the driver of the autonomous vehicle 2 and the passenger in the passenger compartment or arranged on the passenger compartment side can adjust the respective flap element 11 into or beyond the respective second stop position 29. Therefore, the following checks are carried out: in the case of an autonomous vehicle 2 parked in accordance with the parking position 1, it is possible to adjust both the driver door 12 and the passenger door 13 in each case into the second stop position 29. Expressed by the following mathematical formula, it is checked in a method step S2 whether:

if so, method step S2 is followed by a further method step S3, in which method step S3 the lateral parking space 6 is classified as a safe-to-use lateral parking space. Thereafter, in a further method step S4, the parking position 1 is set in such a way that: so that, once the self-vehicle 2 is parked according to the parking position 1 on the lateral parking space or on the lateral parking space, the self-vehicle 2 is parked centrally between the adjacently parked vehicles 7 and in particular centrally on the lateral parking space 6. This means that: in method step S4, the autonomous vehicle 2 or the parking position 1 is oriented in such a way that the longitudinal center planes 22, 23 coincide once the autonomous vehicle 2 is parked on the transverse parking space 6. In this case, a second gap is formed on both sides of the autonomous vehicle 2 due to the parking of the autonomous vehicle 2 on the transverse parking space 6Distance 30 or comfort distance d₂Or respectively larger spacings.

If it is determined in method step S2 that it is not possible after the autonomous vehicle 2 has been parked on the lateral parking space 6 that it is possible to check whether the hatch elements 11 on both sides of the autonomous vehicle 2 can be respectively adjusted into the second parking position 29 or further away, the dimensions of the lateral parking space 6 or the parking space data set are checked in a further method step S5 as follows: whether this lateral parking space 6 is a small lateral parking space 6. Expressed in mathematical formula, the lateral parking space 6 or the parking space data set characterizing the lateral parking space 6 is analyzed as follows, i.e. whether it is true:

in the case of a small transverse parking space 6 which is not a critical transverse parking space 6 (which is to be checked in the following), it is not possible in the case of the autonomous vehicle 2 to simultaneously adjust the driver door 12 and the passenger door 13 into the second locking position 29 at the same time when the autonomous vehicle 2 is parked as intended on the small transverse parking space 6. Instead of this, only possible are: the

respective door

12, 13 is adjusted into and beyond the first stop position 28, but not into the second stop position 29. Correspondingly, method step S6 follows method step S5, in which method step S6 the lateral parking space 6 is classified as a small lateral parking space 6.

Following method step S6 is a further method step S7, in which method step S7 the parking situation in which an empty lateral parking space 6 is found is checked as follows: whether the driver's door of the right-hand adjacently parked motor vehicle 7 faces the empty transverse parking space 6 and is able to form a comfort gap 30 (d) on at least one side of the autonomous vehicle 2₂). In this case, "right" or "left" is to be understood by reference to the forward driving direction 16 of the ego vehicle 2. If the driver door of the right parked motor vehicle 7 is closedThis alignment of the lateral parking space 6 then provides in the method in a further method step S8: the parking position 1 is determined or set in such a way that the autonomous vehicle 2 is arranged centrally between the adjacent parked vehicles 7. Correspondingly, a first distance 31 or a minimum distance d is formed on both sides of the autonomous vehicle 2 when the autonomous vehicle 2 is parked in accordance with the determined parking position 1₁Or a larger pitch (the larger pitch being smaller than the comfort pitch 30 or d)₂). In other words, the right parked motor vehicle 7 then exceeds the first distance 31 (d) at least when the self-propelled vehicle 2 is completely parked₁) Spaced from the ego-vehicle 2. The same applies to a left-hand parked motor vehicle 7: the left parked motor vehicle 7 exceeds at least the first distance 31 (d)₁) Spaced from the ego-vehicle 2.

If the driver 'S door of the right parked motor vehicle 7 is oriented away from the lateral parking space 6, method step S8 is not performed but rather another method step S9 is performed in which method step S9, when the autonomous vehicle 2 is parked in accordance with the parking position 1, a second distance 30 or a comfort distance d is formed on the driver' S side of the autonomous vehicle 2, i.e., with respect to the left parked vehicle 7₂Wherein at least the safety distance 32 (d) is formed on the passenger side of the autonomous vehicle 2_s). In other words, the autonomous vehicle 2 according to the parking position 1 is then oriented off-center between the adjacent parked vehicles 7. Thus, when determining the parking position 1, the offset 24 between the longitudinal center planes 22, 23 is selected or measured in such a way that a comfort distance 30 (d) is provided on the left when the autonomous vehicle 2 is driven into the parking position 1₂) And at least a safety spacing 32 (d) is provided on the right_s）。

If it is determined in a method step S5 that checks whether the hatch elements 11 or

doors

12, 13 on both sides of the ego vehicle 2 can be adjusted into the first parking position 28 or further away that this would not be possible after the ego vehicle 2 has been parked on the lateral parking space 6, then in a further method step S10 the size of the lateral parking space 6 or the parking space data set is checked as follows: whether the lateral parking space 6 is a critical lateral parking space 6. Expressed in mathematical formula, the lateral parking space 6 or the parking space data set characterizing the lateral parking space 6 is analyzed as follows, i.e. whether it is true:

in the case of a critical transverse parking space 6 which is still a safely usable transverse parking space 6 (which is also to be checked in the following), it is not possible in the case of the self-propelled vehicle 2 when the self-propelled vehicle 2 is parked as specified on the critical transverse parking space 6: the driver door 12 and the passenger door 13 are simultaneously adjusted into the first stop position 28. Instead, it is only possible to push the

respective door

12, 13 out of the completely closed position (ausricken), but not into the first stop position 28. Correspondingly, method step S10 is followed by method step S11, in which method step S11 the lateral parking space 6 is classified as a critical lateral parking space 6.

Method step S11 is followed by a further method step S12, in which method step S12 the parking situation in which an empty lateral parking space 6 is found is checked as follows: whether the driver's door of the right-hand adjacently parked motor vehicle 7 faces the empty transverse parking space 6 and whether a minimum distance 31 (d) can be formed on at least one side of the autonomous vehicle 2 (d)₁). If the driver' S door of the right parked motor vehicle 7 is aligned with the lateral parking space 6, in the method a further method step S13 provides that: the parking position 1 is determined or set in such a way that the autonomous vehicle 2 is arranged centrally between the adjacent parked vehicles 7. Correspondingly, a safety distance d is formed on both sides of the autonomous vehicle 2 when the autonomous vehicle 2 is parked in accordance with the determined parking position 1_sOr a larger pitch (the larger pitch being smaller than the minimum pitch 31 or d)₁). In other words, the autonomous vehicle 2 is then parkedThe right parked motor vehicle 7 then at least exceeds the safety distance 32 (d)_s) Spaced from the ego-vehicle 2. The same applies to a left-hand parked motor vehicle 7: the left parked motor vehicle 7 at least exceeds the safety distance 32 (d)_s) Spaced from the ego-vehicle 2.

If the driver 'S door of the right parked motor vehicle 7 is oriented away from the lateral parking space 6, method step S13 is not performed but rather another method step S14 is performed in which method step S14, when the autonomous vehicle 2 is parked in accordance with the parking position 1, a first distance 31 or a minimum distance d is formed on the driver' S side of the autonomous vehicle 2, i.e., with respect to the left parked vehicle 7₁Wherein at least the safety distance 32 (d) is formed on the passenger side of the autonomous vehicle 2_s). In other words, the autonomous vehicle 2 according to the parking position 1 is then oriented off-center between the adjacent parked vehicles 7. Thus, when determining the parking position 1, the offset 24 between the longitudinal center planes 22, 23 is selected or measured in such a way that a first distance 31 (d) is provided on the left when the autonomous vehicle 2 is driven into the parking position 1 (d)₁) And at least a safety spacing 32 (d) is provided on the right_s）。

If it is determined in a method step S10, in which it is checked whether the hatch elements 11 or the

doors

12, 13 on both sides of the self-propelled vehicle 2 can be adjusted into the first parking position 28 or further away, that the doors cannot be adjusted into the first parking position 28 after the self-propelled vehicle 2 has been parked on the lateral parking space 6, the lateral parking space 6 is a lateral parking space 6 which cannot be safely used. This means that the lateral parking space 6 satisfies the following condition:

lateral parking spaces 6 with such a width 26 (B) do not provide sufficient space on the right and left of the autonomous vehicle 2 to safely, in particular at least semi-automatically, fully automatically or autonomously, drive the autonomous vehicle 2 into/onto the lateral parking space 6 in order to park it as a result. In this case, method step S10 is followed by a further method step S15, in which method step S15 the lateral parking space 6 is classified as a non-safe ("too small") lateral parking space 6. After the method step S15, the self vehicle 2 is then searched for a parking space or is parked manually, wherein attention is then directed in particular to the parking maneuver and to the opening of the hatch element 11, in order not to damage the adjacent parked vehicle 7 when parking the self vehicle 2.

Fig. 6 shows the lateral parking space 6 in a schematic representation, wherein the lateral parking space is detected by means of two

sensor units

33, 34. The

sensor units

33, 34 are in particular part of the driver assistance system 3, preferably the sensor device 8. This means that: the autonomous vehicle 2 equipped with the driver assistance system 3 has a sensor device 8 and thus

sensor units

33, 34. When the two

sensor units

33, 34 are used to detect a lateral parking space 6, the first sensor unit 33 detects the ground marking 27 of the lateral parking space 6. In addition, the second sensor device 34 detects the free volume (Freivolumen) 35 of the lateral parking space 6, for example, simultaneously or subsequently. The free volume 35 of the lateral parking space 6 is characterized in that: the free volume is free of objects, in particular motor vehicles 7, so that the free volume 35 of the lateral parking space 6 is available for parking or can be used. The free volume 35 is furthermore arranged above the parking space 4 in the upward direction, i.e. the free volume 35 is bounded on its underside by the parking space 4.

The ground marking 27 of the lateral parking space 6 is detected by a first sensor unit 33, which first sensor unit 33 provides a reference data set, for example the first sensor unit 33 provides the control unit 9 with a reference data set. Correspondingly, the second sensor unit 34 provides a free volume data set when the free volume 35 is detected, in particular the second sensor unit 34 provides a free volume data set to the control unit 9. The reference data set and the free volume data set are then further processed by means of the control unit 9 into a parking space data set or are connected to the parking space data set in a data-technical manner or are linked to the parking space data set, so that the control unit 9 thereafter determines or sets the parking position 1 on the basis of the reference data set and the free volume data set and possibly in accordance with the parking space data set.

The first sensor unit 33 for detecting the ground marking 27 of the lateral parking space 6 is in particular a sensor unit which is designed to process images. This means that: the ground mark 27 of the lateral parking space 6 is detected by the sensor unit 33 which processes the image. In contrast, the second sensor unit 34 is a sensor unit based on a different sensor principle from the first sensor unit 33. In the present example, the sensor unit 34 is configured as a radar sensor unit.

By detecting the lateral parking space 6 by means of at least two

sensor units

33, 34, a parking space data set can thus be generated which characterizes the lateral parking space 6 particularly precisely, and the parking position 1 can then be determined or ascertained particularly effectively with respect to the lateral parking space 6. Furthermore, in a parking situation as shown in fig. 6 it may happen that: the free volume 35 (which is assumed for simplicity to have a rectangular base surface) and the floor marking 27 (which is also assumed for simplicity to define a rectangular transverse parking space 6) are skewed with respect to one another.

This is the case in the following example, as shown, since the motor vehicle 7 parked adjacent to this transverse parking space 6 is already arranged askew or parked on its own respective transverse parking space 5. In this case, the central parking of the self-propelled vehicle 2 with respect to the ground mark 27 may prevent the opening of at least one flap element 11 of the self-propelled vehicle 2, so that, starting from the parking situation shown in fig. 6, provision can be made in the method for: parking off-center between the ground markings 27 of the lateral parking spaces 6. On the one hand, the following possibilities exist: the available width B is identical to the length of a side 36 of a (gleichsetzen) rectangular free space 37, wherein the width or the length of a side 36 of the rectangular free space 37 is present between a first point of the left adjacently parked motor vehicle 7 and a second point of the right adjacently parked motor vehicle 7, wherein the two points of the adjacently parked motor vehicles 7 determine the length of a side 36 and are each arranged closest to the transverse parking space 6. This means that, in order to set parking position 1, the usable width 26 of lateral parking space 6 is thus determined by the length of side 36 of free space 37. Alternatively, provision can be made in the method for: the available width 26 of the lateral parking space 6 is determined only at the height of the driver's door 12 of the ego vehicle 2. This is marked in fig. 6 by a distance 38, wherein the distance 38 exists between the left-hand adjacently parked motor vehicle 7 and the right-hand adjacently parked motor vehicle 7, and specifically at the level of the driver's door 12 of the autonomous vehicle 2 when the autonomous vehicle 2 is parked in the lateral parking space 6. In other words, the distance 38 between the adjacently parked motor vehicles 7 is measured between the motor vehicles 7 in relation to the parking position 1, wherein the driver door 12 of the autonomous vehicle 2 is arranged here according to the parking position 1. This spacing 38 is then considered as the available width 26 (B) in order to determine the offset 24, for example.

List of reference numerals

1 parking position

2 self-propelled vehicle

3 driver assistance system

4 parking area

5 horizontal parking space

6 horizontal parking stall

7 Motor vehicle

8 sensing device

9 control unit

10 entry parameter

11 Hatch cover element

12 driver door

13 copilot door

14 entry parameter

15 parking trajectory

16 forward direction of travel

17 forward direction of travel

18 first stop trajectory

19 second parking trajectory

20 third stopping trajectory

21 wall element

22 longitudinal center plane

23 longitudinal center plane

24 offset

25 width of motor vehicle

26 usable width

27 ground mark

28 first stop position

29 second stop position

30 second interval (comfortable interval)

31 first pitch (minimum pitch)

32 safety interval

33 sensor unit

34 sensor unit

35 free volume

36 side length

37 free space

38 pitch

Method step S1

Method step S2

Method step S3

Method step S4

Method step S5

Method step S6

Method step S7

Method step S8

Method step S9

Method step S10

Method step S11

Method step S12

Method step S13

Method step S14

Method step S15.

Claims

1. Method for determining a parking position (1) for a motor vehicle (2), wherein a lateral parking space (6) is detected by means of a sensor device (8) of the motor vehicle (2) and a parking space data set characterizing the lateral parking space (6) is provided to a control unit (9) of the motor vehicle (2), and the parking position (1) is determined by the control unit (9) in accordance with the parking space data set and in accordance with an entry parameter (10) of the motor vehicle (2), wherein the entry parameter characterizes an opening possibility of at least one hatch element (11, 12, 13) of the motor vehicle (2),

it is characterized in that the preparation method is characterized in that,

the parking position (1) is set according to further entrance parameters (14) of further motor vehicles (7) parked adjacent to the parking position (1).

2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of,

characterized in that, for determining the parking position (1), the orientation of the forward driving direction (16) of the motor vehicle (2) with respect to the lateral parking space (6) is determined by means of the control unit (9) in accordance with the parking space data set and in accordance with the entrance parameters (10, 14).

3. The method of claim 2, wherein the first and second light sources are selected from the group consisting of,

characterized in that the orientation of the forward driving direction (16) of the motor vehicle (2) with respect to the lateral parking space (2) is also determined in accordance with at least one of the following conditions:

-the type of road adjacent to said lateral parking space (6);

-the complexity of the driving manoeuvres (15, 18, 19, 20) necessary for driving onto the lateral parking space (6);

-orientation of a forward driving direction (17) of the adjacently parked motor vehicle (7);

-a loading state of a cargo compartment of the motor vehicle (2).

4. The method according to any of the preceding claims,

in order to determine the parking position (1), an offset (24) between a vertical longitudinal center plane (22) of the motor vehicle (2) and a vertical longitudinal center plane (23) of the transverse parking space (6) is determined by means of the control unit (9) as a function of the parking data set and as a function of the entry parameters (10, 14).

5. The method according to any of the preceding claims,

on the basis of the available width (26, B) of the lateral parking space (6), the vehicle width (25, B) and the entrance parameter (10) characterizing the open position of the hatch elements (11, 12, 13), the lateral parking space (6) is classified into one of the following categories by means of the control unit (9):

-a safely usable transverse parking space (6),

-a small transverse parking space (6),

-a critical transverse parking space (6),

-a lateral parking space (6) that cannot be safely used.

6. The method of claim 5,

if the lateral parking space (6) is classified as a small lateral parking space (6), the parking position (1) is determined by means of the control unit (9) in such a way that a comfort distance (30, d) from the adjacently parked motor vehicle (7) is provided at least one of the flap elements (11, 12, 13) of the motor vehicle (2)₂）。

7. The method of claim 5,

if the lateral parking space (6) is classified as a critical lateral parking space (6), the parking position (1) is determined by means of the control unit (9) in such a way that a minimum distance (31, d) from the adjacently parked motor vehicle (7) is provided at least one of the flap elements (11, 12, 13) of the motor vehicle (2)₁）。

8. The method according to any of the preceding claims,

two sensor units (33, 34) of the sensor device (8) that are configured differently from each other are used for detecting the lateral parking space (6), wherein a first one of the sensor units (33, 34) detects a ground mark (27) defining the lateral parking space (6), in order to provide said control unit (9) with a reference data set partially characterizing said lateral parking space (6), and a second of the sensor units (33, 34) detects a free volume (35) of the lateral parking space (6), in order to provide said control unit (9) with a free volume data set partially characterizing said lateral parking space (6), so that the parking space data set is supplied to the control unit (9) by means of the sensor device (8) on the basis of the reference data set and the free volume data set and the corresponding parking position (1) is determined as a result.

9. Driver assistance system (3) for carrying out a method as set forth in any one of the preceding claims, wherein the driver assistance system is set up for determining a parking position (1) for a motor vehicle (2).

10. Motor vehicle (2) having a driver assistance system (3) configured according to claim 9.